load libpcrecpp before collada-dom, fixes #89

collada_urdf/CMakeLists.txt

@@ -44,6 +44,12 @@ endif()
 find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
 include_directories(${Boost_INCLUDE_DIR})
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PCRECPP libpcrecpp)
+if( PCRECPP_FOUND )
+  include_directories(${PCRECPP_INCLUDE_DIRS})
+  link_directories(${PCRECPP_LIBRARY_DIRS})
+endif()
 find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
 if( COLLADA_DOM_FOUND )
   include_directories(${COLLADA_DOM_INCLUDE_DIRS})
@@ -54,17 +60,17 @@ include_directories(${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 
 add_library(${PROJECT_NAME} src/collada_urdf.cpp)
-target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}  
+target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
   ${Boost_LIBRARIES} ${ASSIMP_LIBRARIES})
 set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
 set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}") 
 
 add_executable(urdf_to_collada src/urdf_to_collada.cpp)
-target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}  
+target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
   ${Boost_LIBRARIES} ${PROJECT_NAME})
 
 add_executable(collada_to_urdf src/collada_to_urdf.cpp)
-target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
 set_target_properties(collada_to_urdf PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
 set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
 

collada_urdf/package.xml

@@ -25,6 +25,7 @@
   <build_depend>collada_parser</build_depend>
   <build_depend>liburdfdom-dev</build_depend>
   <build_depend>liburdfdom-headers-dev</build_depend>
+  <build_depend>pcrecpp</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>geometric_shapes</build_depend>
@@ -38,6 +39,7 @@
   <run_depend>liburdfdom-dev</run_depend>
   <run_depend>liburdfdom-headers-dev</run_depend>
   <run_depend>resource_retriever</run_depend>
+  <run_depend>pcrecpp</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>tf</run_depend>

collada_urdf/src/urdf_to_collada.cpp

@@ -37,6 +37,9 @@
 #include "collada_urdf/collada_urdf.h"
 #include <ros/ros.h>
 
+#include <pcrecpp.h>
+pcrecpp::RE __re__(""); // https://github.com/ros/robot_model/issues/89
+
 int main(int argc, char** argv)
 {
     if (argc != 3) {